Just finished my first successful Eve return last night. Done with my 160 ton Phalanx Mark II lander (phalanx because it looks like a wall of shields (Mark II because the first one was comically inadequate). In testing, it can land at 200 meters without rocket aid (parachutes only), and return to orbit. It could probably successfully do a sea-level landing/orbit return, but I haven't tested to confirm. I way over-engineered my tug and return craft (Note, this was too unstable, so I had to turn off some reaction wheels, separate the return craft, and fly that by itself to eve, where I re-docked and re-fueled from the tug). The thing is a tank when it comes to landing. I've hit the surface at 6m/s on Eve, and 10m/s on Kerbin without problems. Take off from Eve. It has 7 asparagus stages (3 on outer layer, 3 inner, 1 core) with an extra stage (the smaller tanks) that provide extra TWR during early ascent. Note the two reaction wheels on the outer stage. The placement ended up being key. It's a unstable craft, and the aerospike engines don't vector, so I originally had one reaction wheel in the center core (on the second to last stage), but I couldn't re-orbit from low altitudes. Removing that wheel from the center core, and putting them on the first asparagus stage that decouples made all the difference. Outer asparagus and extra stage gone. Jeb returning to return ship.